US 11,951,634 B2
System and a method for forming a controlled safety area for a manipulator
Jari Helminen, Kuopio (FI); Paavo Käkelä, Tupos (FI); Mika Mäkinen, Tampere (FI); and Antti Saari, Kuopio (FI)
Assigned to EID ROBOTICS OY, Kuopio (FI)
Appl. No. 17/439,464
Filed by EID ROBOTICS OY, Kuopio (FI)
PCT Filed Mar. 15, 2019, PCT No. PCT/FI2019/050223
§ 371(c)(1), (2) Date Sep. 15, 2021,
PCT Pub. No. WO2020/188137, PCT Pub. Date Sep. 24, 2020.
Prior Publication US 2022/0152831 A1, May 19, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 19/06 (2006.01); G01V 8/20 (2006.01)
CPC B25J 9/1676 (2013.01) [B25J 19/06 (2013.01); G01V 8/20 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A system for forming a controlled safety area for a manipulator which system comprises a control unit being arranged to monitor the controlled safety area in order to prevent human entering to the controlled safety area to be hit by the manipulator working within the controlled safety area wherein the system comprises:
at least one laser scanner being arranged to form at least one laser scanning wall such that the controlled safety area is divided in to a high grade safety area in between the at least one laser scanning wall, and to low a grade safety area outside the at least one laser scanning wall;
at least one area detecting laser scanner arranged to detect humans at least in the low grade safety area around the high grade safety area; and wherein
the control unit is arranged to control the at least one laser scanner to form an at least one virtual door in to the at least one laser scanning wall through which a human in the low grade safety area detected by the area detecting laser scanner can safely enter from the low grade safety area to the high grade safety area.